Figure 2 car mirror wiper system with H infinity Loop shaping design
using Glover-McFarlane method
A feedback controller, KS, is synthesized that robustly stabilizes the
normalized left cop rime factorization of G, with a balance margin. It
may be proven that the frequency response of KsW2GW1 will be much like
that of W2GW1. On the other hand, if the viable gain is simply too
large, this will probable indicate an overdesigned case in appreciate of
the robustness, which means that the performance of the system can also
in all likelihood be progressed by the usage of a larger in computing
Ks. The final feedback controller, Kfinal, is then constructed with the
aid of combining the H infinity controller Ks, with the weighting
functions W1 and W2 such that
We choose a precompensator, W1, and a postcompensator, W2 transfer
functions as
The H infinity controller transfer function is
Robust Pole Placement Controller Design
In a typical feedback manage system, the output, y, is fed back to the
summing junction. It is now that the topology of the layout changes.
Instead of feeding again y, what if we feed back all of the state
variables? If each state variable is fed back to the manipulated, u,
through a gain, ki, there might be n gains, ki that would be adjusted to
yield the required closed-loop pole values. The feedback via the
profits, ki, is represented by way of the feedback vector -K.
The block diagram of the car mirror wiper system with robust pole
placement method is shown in Figure 3.